Ergonomic parameter setting method, minimally invasive surgery robot and readable storage medium

Abstract

The application discloses an ergonomic parameter setting method, a minimally invasive surgical robot and a readable storage medium, wherein the ergonomic parameter setting method comprises: acquiring complete target parameters, or acquiring at least one target parameter and automatically generating complete target parameters based on the at least one target parameter; and automatically driving to complete corresponding ergonomic settings based on the complete target parameters. In the embodiment of the application, the endoscope control method is used, the ergonomic parameters are automatically formed based on the body parameters, the step of automatically adjusting the ergonomic parameters by the user is reduced or even eliminated, the setting difficulty of the user is reduced, the complete body parameters of the user can be inferred according to part of the body parameters of the user, so that the best ergonomic parameter setting of the user is automatically matched, the inaccuracy of manual adjustment is avoided, the mapping relationship between the machine and the target of the automatic learning optimization system and the mapping relationship between the targets are further optimized, and the accuracy of the body parameter inference and the ergonomic parameter matching is further improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to ergonomic parameter setting methods, minimally invasive surgical robots, and readable storage media. Background Technology

[0002] Minimally invasive surgery refers to surgical procedures performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery. However, the limitations imposed by the incision size on minimally invasive instruments significantly increase the difficulty of the procedure, and the fatigue and tremors experienced by the surgeon during prolonged operations are amplified. These factors have become key constraints on the development of minimally invasive surgical techniques. With the development of robotics technology, a new technology in the field of minimally invasive medicine—minimally invasive surgical robot technology—has emerged, overcoming these shortcomings while inheriting the advantages.

[0003] A typical minimally invasive surgical robot consists of a surgeon's console, a patient-side trolley, and a display device. The surgeon operates the input device from the surgeon's console and transmits the input to the patient-side trolley, which is connected to remotely operated surgical instruments. The surgeon's console, also known as the master arm, typically has two robotic arms located on the left and right sides to meet the motion freedom requirements of the input device. Since surgical robots are a shared resource in hospitals and are used by different surgeons with varying heights, leg lengths, and other anthropometric parameters, the ergonomic parameters of the surgeon's console need to be adjusted.

[0004] Chinese invention patent application CN107320190A discloses a doctor's control console for a surgical robot. By connecting the operating platform to a lifting column, the height of the operating platform can be adjusted. By adjusting the height of the operating platform, different doctors' operating habits can be met, making doctors more flexible and free in performing surgery, improving the practicality of the equipment, and effectively improving the accuracy and comfort of doctors' operations.

[0005] However, the aforementioned patented solutions can only make adaptive adjustments based on the doctor's height. Since the height of the doctor's console armrests, the height and angle of the monitor, and other ergonomic settings are all manually adjustable, the adjustment parameters of the aforementioned solutions are not perfect. Traditional manual adjustment also has the problem of a long adjustment process. Furthermore, due to a lack of knowledge and skills, some doctors may not actually be able to adjust to the most suitable ergonomic settings for themselves, which further affects the adjustment efficiency of ergonomic parameters. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a simple and highly intelligent method for setting ergonomic parameters, a minimally invasive surgical robot, and a readable storage medium.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions.

[0008] This application provides a method for setting ergonomic parameters, including:

[0009] Obtain the complete target parameters, or obtain at least one target parameter and automatically generate the complete target parameters based on the at least one target parameter;

[0010] Based on the complete target parameters, the corresponding ergonomic settings are automatically completed.

[0011] Further defining the above-mentioned ergonomic parameter setting method, the automatic completion of the corresponding ergonomic settings based on the complete target parameters specifically includes:

[0012] Based on the complete target parameters, complete ergonomic parameters are generated, thereby automatically driving the completion of the corresponding ergonomic settings based on the complete ergonomic parameters.

[0013] Further specifying the above-mentioned ergonomic parameter setting method, the specific steps of generating complete ergonomic parameters based on the complete target parameters are as follows:

[0014] The complete ergonomic parameters are generated based on the preset machine & target mapping relationship introduced by the complete target parameters.

[0015] Further defining the above-mentioned ergonomic parameter setting method, the automatic generation of the complete target parameters based on the at least one target parameter specifically includes:

[0016] Upon receiving the at least one target parameter, a judgment result is formed based on the number of items of the at least one target parameter and the number of items of the complete target parameter;

[0017] Based on the judgment result, a preset target & target mapping relationship is introduced to supplement or correct the at least one target parameter, thereby generating the complete target parameter.

[0018] Further specifying, the above-mentioned ergonomic parameter setting method, before automatically generating the complete target parameters based on the at least one target parameter, further includes:

[0019] If the number of obtained target parameter items is greater than 1 and the association relationship is inconsistent with the target & target mapping relationship, then the target & target mapping relationship is corrected based on the association relationship of the obtained multiple target parameters.

[0020] Further defining the above-mentioned ergonomic parameter setting method, the specific steps of correcting the target & target mapping relationship based on the correlation between the acquired multiple target parameters are as follows:

[0021] The new target mapping relationship is formed by averaging or weighting the relationships between the acquired multiple target parameters and the target & target mapping relationship.

[0022] Further specifying, the above-mentioned ergonomic parameter setting method, wherein correcting the target & target mapping relationship based on the correlation between the acquired multiple target parameters further includes:

[0023] The difference between the correlation between the acquired multiple target parameters and the target & target mapping relationship is compared with a first standard threshold range. If it is within the first standard threshold range, the target & target mapping is corrected; otherwise, the correction is ignored.

[0024] Further specifying, the above-mentioned ergonomic parameter setting method, after automatically driving the corresponding ergonomic settings based on the complete target parameters, also includes:

[0025] Based on the manual adjustment information of the ergonomic settings or ergonomic parameters, the modified ergonomic parameters are obtained, and the machine & target mapping relationship is corrected based on the modified ergonomic parameters.

[0026] The modification of the machine-target mapping relationship applies only to the mapping relationship between the modified ergonomic parameters and their matching target parameters.

[0027] Further specifying the above-mentioned ergonomic parameter setting method, the modification of the machine & target mapping relationship based on the modified ergonomic parameters specifically involves:

[0028] The new machine-target mapping relationship is formed by averaging or weighting the modified ergonomic parameters and their mapping relationship with the target parameters.

[0029] Further specifying, the above-mentioned ergonomic parameter setting method, wherein correcting the machine & target mapping relationship based on the modified ergonomic parameters further includes:

[0030] The difference between the modified ergonomic parameters and their mapping relationship with the target parameters and the machine & target mapping relationship is compared with a second standard threshold range. If it is within the second standard threshold range, the machine & target mapping is corrected; otherwise, the correction is ignored.

[0031] To further specify, the above-mentioned ergonomic parameter setting method, after automatically driving to complete the corresponding ergonomic settings, also includes:

[0032] A user ergonomic parameter database is formed by combining user information and corresponding ergonomic parameters.

[0033] This application also provides a method for setting ergonomic parameters, including:

[0034] Provides a human-computer interaction interface for new user registration and existing user login;

[0035] The system receives user registration or login information. If user login information is received, the system retrieves the database based on the user information to automatically drive the completion of the corresponding ergonomic settings. If user registration information is received, the system obtains the target parameters from the human-computer interaction interface and automatically drives the completion of the corresponding ergonomic settings based on the target parameters.

[0036] The method for automatically driving the corresponding ergonomic settings based on the target parameters adopts any of the above-mentioned ergonomic parameter setting methods.

[0037] To further define the above-mentioned ergonomic parameter setting method, the process before automatically driving the ergonomic settings includes:

[0038] The human-computer interaction interface displays ergonomic parameters and receives confirmation or modification commands.

[0039] This application also provides a minimally invasive surgical robot, including a master hand and a slave hand, characterized in that the master hand includes a base, a column, and adjustable pedals, handrails, and a display, and the ergonomic settings of the master hand adopt the ergonomic parameter setting method described above.

[0040] The target parameters include height, leg length, and arm length. The ergonomic parameters include the pedal distance parameter associated with the leg length parameter, the handrail height parameter associated with the arm length parameter, and the display height parameter associated with the height parameter.

[0041] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the ergonomic parameter setting method described in any of the above claims.

[0042] This invention has at least the following beneficial effects:

[0043] 1. By obtaining the user's target parameters, the device can automatically execute the corresponding ergonomic settings, reducing the process of manually adjusting the ergonomic settings. This not only improves the device's pre-operation efficiency, but also ensures that the ergonomic settings generated based on the target parameters are more in line with the user's actual physical condition, providing a better user experience.

[0044] 2. By pre-setting the initial machine & target mapping relationship and the initial target & target mapping relationship, the ergonomic parameters can be automatically adjusted based on the body parameters, reducing or even eliminating the steps for users to automatically adjust the ergonomic parameters, reducing the difficulty of setting the ergonomic parameters, and can infer the user's complete body parameters based on some of the user's body parameters, thereby automatically matching the optimal ergonomic parameter settings, avoiding the inaccuracy of manual adjustment, and improving the comfort of the experience under the optimal ergonomic parameter settings;

[0045] 3. When the user inputs multiple body parameters, the system automatically learns and corrects the target-to-target mapping relationship of the corresponding body parameters within the first standard threshold. When the user manually adjusts the ergonomic settings, the system automatically learns and corrects the machine-to-target mapping relationship of the initial body parameters within the standard threshold. Through automatic learning and optimization, the system can not only improve the accuracy of body parameter inference and ergonomic parameter matching, but also greatly enhance the intelligence of the system and improve the user experience.

[0046] 4. A user ergonomic parameter database is established based on user information and its corresponding ergonomic parameters. The next time the user uses the system, the existing user only needs to verify the user information to directly retrieve the corresponding ergonomic parameter settings. The user no longer needs to input their own parameters. This is simple and easy to use and greatly improves the efficiency of ergonomic settings. Attached Figure Description

[0047] Figure 1 This is a flowchart of the ergonomic parameter setting method according to an embodiment of this application;

[0048] Figure 2 This is a flowchart of the "automatic learning" part of the ergonomic parameter setting method in an embodiment of this application;

[0049] Figure 3 This is a schematic diagram of the structure of the minimally invasive surgical robot according to an embodiment of this application;

[0050] Figure 4 This is a schematic diagram of the machine parameters in an embodiment of this application;

[0051] Figure 5 This is a schematic diagram of body parameters in an embodiment of this application.

[0052] Figure Labels

[0053] Base-100, pedal-200, column-300, display-400, armrest-500, height parameter-H, arm length parameter-A, leg length parameter-L, display height parameter-VH, armrest height parameter-AH, pedal distance parameter-FD, tilt angle parameter-VT. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0055] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0056] The following description, in conjunction with the accompanying drawings, details the ergonomic parameter setting method, minimally invasive surgical robot, and readable storage medium provided in this application through specific embodiments and application scenarios.

[0057] like Figures 3 to 4 As shown in the figure, this application embodiment provides a minimally invasive surgical robot, including a master hand and a slave hand. The master hand includes a base 100, a pedal 200, a column 300, a handrail 500, a display 400, and a clamping operation mechanism. The pedal 200 is disposed on the base 100 and its distance relative to the display 400 can be adjusted back and forth. The column 300 is disposed on the base 100. The handrail 500 is disposed on the column 300 and its height can be adjusted up and down relative to the base 100. The display 400 is disposed on the column 300 and its height can be adjusted up and down relative to the base 100 and its angle relative to the axis of the column 300 can be adjusted by rotation.

[0058] like Figure 1 As shown in the embodiments of this application, an ergonomic parameter setting method is also provided, such as... Figure 4 As shown, the distance that the pedal 200 can be adjusted back and forth relative to the display 400 is denoted as the pedal distance parameter FD, the height that the armrest 500 can be adjusted up and down relative to the base 100 is denoted as the armrest height parameter AH, the height that the display 400 can be adjusted up and down relative to the base 100 is denoted as the display height parameter VH, and its tilt adjustment angle is denoted as the tilt angle parameter VT.

[0059] like Figure 5As shown, the doctor's height is denoted as height parameter H, arm length as arm length parameter A, and leg length as leg length parameter L. It can be understood that the doctor's three parameters are related. Similarly, in the process of the doctor using the minimally invasive surgical robot, the height parameter H is related to the display height parameter VH, and the arm length parameter A is related to the armrest height parameter AH.

[0060] Understandably, doctors typically operate their main hand while seated in a height-adjustable chair. This height difference between the doctor's posture and the pedal 200 is matched to the height of the pedal. Therefore, the pedal distance parameter FD is related to both the doctor's chair height and leg length parameter L. The tilt angle parameter VT is related to the doctor's head angle habits. The head angle can be considered as the angle between the direction the eyes are looking and the horizontal plane. It is not a fixed value and is generally between 30° and 60°, but it can also be other angles. The initial recommended angle is 45°.

[0061] The ergonomic parameter setting method described in this embodiment specifically includes:

[0062] S1. Authentication: If the user's corresponding body parameters exist in the user database, execute the body parameters; otherwise, manually input the body parameters.

[0063] S2. Determine the completeness of the body parameter input. If the body parameter input is complete, output the body parameter to the minimally invasive surgical robot. If the body parameter is incomplete, fill in the missing body parameter based on the input body parameter and output the input body parameter and the filled body parameter to the minimally invasive surgical robot.

[0064] S3. The minimally invasive surgical robot records the doctor and their complete body parameters into the user database, and performs robot ergonomic parameter adjustments based on the complete body parameters.

[0065] Understandably, in the control system of a minimally invasive surgical robot, there is a pre-configured initial machine-target mapping relationship between the doctor's body parameters and the ergonomic parameters of the main control panel, i.e., the initial machine-human mapping relationship. This initial machine-human mapping relationship is obtained through research and testing. It can be explained that the display height parameter VH ∝ height parameter H, the armrest height parameter AH ∝ arm length parameter A, the pedal distance parameter FD ∝ leg length parameter L, and ∝ indicates that it is related to the initial value of the tilt angle parameter VT, which is set to 45°.

[0066] In addition, during the doctor's manual input of their own body parameters in step S1, since the doctor may not know their complete body parameters, the control system of the minimally invasive surgical robot is pre-configured with an initial target-target mapping relationship between the doctor's arm length parameter A, height parameter H, and leg length parameter L, i.e., a person-to-person mapping relationship. Thus, in step S2, based on one body parameter input by the doctor (usually the height parameter H), the other two body parameters can be obtained, and then all the ergonomic parameters of the main control panel can be obtained. In this embodiment, the initial person-to-person mapping relationship uses empirical values, i.e., height parameter H = 2, leg length parameter L = 2.6, arm length parameter A (without retaining decimal places).

[0067] In this embodiment, the above-mentioned ergonomic parameter setting method is adopted. By pre-setting the initial machine-human mapping relationship and the initial human-human mapping relationship, the minimally invasive surgical robot can automatically adjust the ergonomic parameters based on the doctor's body parameters, reducing or even eliminating the doctor's automatic operation adjustment steps, reducing the difficulty of use for the doctor, and can infer the doctor's complete body parameters based on some of the doctor's body parameters, thereby automatically matching the optimal ergonomic parameter settings, avoiding the inaccuracy of manual adjustment, and improving the doctor's comfort during long-term surgery.

[0068] In a preferred embodiment, in step S1, before using the main console, the doctor needs to log in with their username. If the doctor is an existing user, they can log in directly. At this time, the system retrieves the doctor's previous body parameters from the database and automatically recommends them to the doctor (e.g., displayed on the monitor 400 or the display screen on the armrest 500). After the doctor confirms (e.g., clicks the OK button), step S3 is executed, whereby the system automatically adjusts the ergonomic parameters based on the confirmed body parameters. Of course, it can also be adjusted automatically without the doctor's confirmation. After the adjustment is completed, the doctor can continue to make ergonomic settings by manually adjusting the lever.

[0069] If the doctor is a new user, they must register their identity information. After registration, the system will pop up an input box, requiring the doctor to enter at least one of their own body parameters. After obtaining the doctor's body parameters, the system will execute steps S2 and S3. The system will retrieve the ergonomic parameters that match the complete body parameters and set them automatically (or it can be presented to the doctor first and set after the doctor's confirmation).

[0070] Understandably, it can also be configured so that when the system detects a previous user, it can directly retrieve the previous ergonomic parameters from the database and execute them directly. In this case, the system does not need to retrieve the ergonomic parameters based on the body parameters, which further improves the efficiency of doctors in adjusting ergonomic parameters (or it can be presented to the doctor first and set after the doctor confirms it).

[0071] In this embodiment of the application, the above-described ergonomic parameter setting method is adopted. The system automatically stores the ergonomic parameters previously set by the same doctor. The system will automatically set the login username the next time it is used, and the doctor no longer needs to input their own parameters. This is simple and easy to use, and greatly improves the efficiency of ergonomic setting.

[0072] In a preferred embodiment, since the doctor's seat height is usually adjustable, the pedal distance parameter FD corresponding to the minimally invasive surgical robot has two variable parameters. Since the doctor's seat height itself is related to the leg length parameter L, the pedal distance parameter FD and the doctor's seat height can be introduced into a machine-to-machine mapping relationship, and the doctor's seat height and the leg length parameter L can be introduced into a human-to-machine mapping relationship, that is, the pedal distance parameter FD is indirectly generated.

[0073] In a preferred embodiment, such as Figure 1 As shown, steps S2 and S3 also include a system automatic learning process. When a new user inputs their own body parameters, the system will determine the number of input body parameters. If there are two or more input body parameters, the system will calculate the relationship between the multiple input body parameters. If the difference between this relationship and the system's preset initial person-to-person mapping relationship is outside the set standard threshold range, the system will use this relationship as a correction value and calculate the average value with the original value. Then, the system will replace the original value with this average value in the initial person-to-person mapping relationship, thereby forming the first corrected person-to-person mapping relationship.

[0074] Of course, in order to prevent the body parameters of special individuals from affecting the accuracy of the system, the difference between the corrected value and the original value will be compared before replacement or averaging. If the difference is within a certain standard threshold range, it is considered a universal adjustment and can be replaced. If it exceeds the threshold, it will not be replaced.

[0075] In a preferred embodiment, such as Figure 2 As shown, the system's automatic learning process also includes: when a user manually adjusts the ergonomic parameters of the main console before or during use (after the ergonomic parameters are automatically set), the system will record the adjusted parameter, use it as a correction value, and average it with the original value. Then, the system will replace the original value with this average value in the machine-human mapping relationship, thereby forming the first corrected machine-human mapping relationship.

[0076] It is understandable that, in addition to averaging, those skilled in the art can also think of other ways to obtain new values, such as weighted average, where the original value is weighted by 80% and the corrected value is weighted by 20%, and so on, to complete the machine learning process (generally after the system has obtained enough user samples).

[0077] Of course, in order to prevent the body parameters of special individuals from affecting the accuracy of the system, the difference between the correction value and the original value will be compared before replacement or averaging. If the difference is within a certain standard threshold range, it is considered a universal adjustment and can be replaced. If it exceeds the standard threshold range, it will not be replaced.

[0078] It should also be noted that if a user only inputs the height parameter H during initial use, only the values ​​related to the height parameter H (display height parameter VH) will be replaced in the manually adjusted correction values. The same applies if other parameters are entered initially. This setting is because after a user manually adjusts the ergonomic parameters, the ergonomic parameters corresponding to non-initial manually entered body parameters may be due to errors in the machine-to-human mapping or human-to-human mapping. This makes it impossible for the system to determine the source of the error and thus unable to make accurate corrections. Of course, if the system establishes a reliable machine-to-human or human-to-human mapping after acquiring sufficient samples, it can determine the source of the error based on the reliable mapping and further correct the system mapping.

[0079] It is understandable that different ergonomic parameters can be set with different standard threshold ranges. For example, the standard threshold range for the tilt angle parameter VT is relatively large, while the standard threshold range for the display height parameter VH is relatively small.

[0080] In this embodiment, the above-described ergonomic parameter setting method is adopted. When the user inputs multiple body parameters, the system automatically learns and corrects the human-to-human mapping relationship of the corresponding body parameters within the standard threshold range. When the user manually adjusts the ergonomic settings, the system automatically learns and corrects the machine-to-human mapping relationship of the initial body parameters within the standard threshold range. Through automatic learning and optimization, not only can the accuracy of body parameter inference and ergonomic parameter matching be improved, but the intelligence of the system can also be greatly enhanced, thereby improving the user experience.

[0081] It is understood that this method is not limited to the minimally invasive surgical mannequin structure and its parameters described in this embodiment, but can also be applied to other types of control consoles. For example, the number of body parameters and their corresponding ergonomic parameters can be increased or decreased, depending on the instruments used and the parameter adjustment requirements.

[0082] This application provides an ergonomic parameter setting system for a minimally invasive surgical robot. The system is pre-configured with initial machine-human mapping relationships and human-human mapping relationships as shown in Tables 1 to 4 below (decimal places are not retained).

[0083] Table 1. Height Parameter H - Comparison Table of Display Height Parameter VH

[0084]

[0085]

[0086] Table 2 Comparison Table of Arm Length Parameter A and Handrail Height Parameter AH

[0087]

[0088] Table 3. Leg Length Parameter L - Pedal Distance Parameter FD Comparison Table

[0089]

[0090] Table 4. Comparison Table of Height Parameter H, Arm Length Parameter A, and Leg Length Parameter L

[0091]

[0092]

[0093] This application embodiment provides a process for setting ergonomic parameters when a previous user logs in to a minimally invasive surgical robot. User A's height parameter H is 170cm, leg length parameter L is 85cm, and arm length parameter A is 65cm. Having previously used the robot and entered the aforementioned body parameters, the previously set ergonomic parameters were the display height parameter VH. 03 FD pedal distance parameter 03 Handrail height parameter AH 03 After user A logs into the system and enters their username and password, the system automatically displays ergonomic parameters, including the height parameter VH. 03 FD pedal distance parameter 03 Handrail height parameter AH 03 After confirmation by user A, the main console will be automatically set to the above parameters.

[0094] This application embodiment provides a process for setting ergonomic parameters when a new user logs in, knowing all their own parameters. User B knows their height parameter H is 176cm, leg length parameter L is 87cm, and arm length parameter A is 67cm. Having never used this minimally invasive surgical robot before, after logging into the system with a new username and password, the system automatically pops up a prompt box for inputting body parameters. User B inputs the three body parameters mentioned above, and the system automatically displays the ergonomic parameters from Tables 1 to 3, showing the height parameter VH. 06 FD pedal distance parameter 05 Handrail height parameter AH 05 After confirmation by user B, the main console will be automatically set to the above parameters.

[0095] Since the height parameter H = 2.023, leg length parameter L, and arm length parameter A are entered by user B, the percentage difference between this relationship and the initial person-to-person mapping relationship is within the first threshold range (in this embodiment, the threshold is 2%, and the percentage difference is 1.15% and 1.04% respectively). Therefore, the system will not modify the initial person-to-person mapping relationship.

[0096] In a preferred embodiment, after user B has completed the ergonomic settings, they feel their legs are not comfortable enough and manually adjust the pedal 200. The pedal distance parameter FD of the adjusted pedal 200 is then adjusted. 08 The system will use the pedal distance parameter FD 08 Distance parameter FD from the pedal 05 The percentage difference is compared with a second threshold (3% in this embodiment). If it does not exceed the threshold, the value of the leg length parameter L (87cm) is compared with the value of the pedal distance parameter FD. 08 +Pedal Distance Parameter FD 05 ) / 2 Establish a new mapping relationship to form the first corrected machine & human mapping relationship. If the threshold is exceeded, the system will not process the initial machine & human mapping relationship.

[0097] This application provides a process for setting ergonomic parameters when a new user with partial knowledge of their own parameters logs in. User C only knows their height parameter H is 168cm and has never used the minimally invasive surgical robot before. After user C adds a username and password to log in to the system, the system automatically pops up a prompt box for inputting body parameters. User C inputs their height parameter H as 168cm. Based on the height parameter H as 168cm, the system indexes from Table 4 to find the leg length parameter L as 84cm and the arm length parameter A as 64cm, and then automatically displays the ergonomic parameters from Tables 1 to 3, showing the height parameter VH. 02 FD pedal distance parameter 01 Handrail height parameter AH 02 After confirmation by user C, the main console will be automatically set to the above parameters.

[0098] In a preferred embodiment, after user C has completed the ergonomic settings, they feel their head is not comfortable enough and manually adjust the height and tilt angle of the monitor 400. After adjustment, the parameters of the monitor 400 are the display height parameter VH. 03 Inclination parameter VT1 = 50°.

[0099] Regarding the display of the height parameter VH: The system will display the height parameter VH. 03 With display height parameter VH 02The percentage difference is compared with a third threshold (5% in this embodiment). If it does not exceed the threshold, the height parameter H of 168cm is compared with the displayed height parameter VH. 03 + Display height parameter VH 02 ) / 2 Establish a new mapping relationship to form the first corrected machine & human mapping relationship. If the threshold is exceeded, the system will not process the initial machine & human mapping relationship.

[0100] Regarding the tilt angle parameter VT: The system compares the percentage difference between the tilt angle parameter VT1 and the tilt angle parameter VT0 with the fourth threshold (10% in this embodiment). Since (50°-45°) / 45 = 11.11% exceeds the threshold, the system will not process the initial machine & human mapping relationship.

[0101] This application provides a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements the steps of the ergonomic parameter setting method described above.

[0102] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0103] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for setting ergonomic parameters, characterized in that, include: Obtain the complete target parameters, or obtain at least one target parameter and automatically generate the complete target parameters based on the at least one target parameter; Based on the complete target parameters, the corresponding ergonomic settings are automatically completed. After automatically completing the corresponding ergonomic settings based on the complete target parameters, the following is also included: Based on the manual adjustment information of the ergonomic settings or ergonomic parameters, the modified ergonomic parameters are obtained, and the machine & target mapping relationship is corrected based on the modified ergonomic parameters. The correction of the machine & target mapping relationship applies only to the modified ergonomic parameters and the mapping relationship between them and the matching target parameters. The specific steps for correcting the machine-target mapping relationship based on the modified ergonomic parameters are as follows: The new machine-target mapping relationship is formed by averaging or weighting the modified ergonomic parameters and their mapping relationship with the target parameters and the machine-target mapping relationship. Correcting the machine-target mapping relationship based on the modified ergonomic parameters also includes: The difference between the modified ergonomic parameters and their mapping relationship with the target parameters and the machine & target mapping relationship is compared with a second standard threshold range. If it is within the second standard threshold range, the machine & target mapping is corrected; otherwise, the correction is ignored.

2. The ergonomic parameter setting method according to claim 1, characterized in that, The automatic completion of the corresponding ergonomic settings based on the complete target parameters is specifically as follows: Based on the complete target parameters, complete ergonomic parameters are generated, thereby automatically driving the completion of the corresponding ergonomic settings based on the complete ergonomic parameters.

3. The ergonomic parameter setting method according to claim 2, characterized in that, The specific steps for generating complete ergonomic parameters based on the complete target parameters are as follows: The complete ergonomic parameters are generated based on the preset machine & target mapping relationship introduced by the complete target parameters.

4. The ergonomic parameter setting method according to claim 1, characterized in that, The complete target parameters are automatically generated based on at least one target parameter, specifically as follows: Upon receiving the at least one target parameter, a judgment result is formed based on the number of items of the at least one target parameter and the number of items of the complete target parameter; Based on the judgment result, a preset target & target mapping relationship is introduced to supplement or correct the at least one target parameter, thereby generating the complete target parameter.

5. The ergonomic parameter setting method according to claim 1 or 4, characterized in that, Before automatically generating the complete target parameters based on the at least one target parameter, the following steps are also included: If the number of obtained target parameter items is greater than 1 and the association relationship is inconsistent with the target & target mapping relationship, then the target & target mapping relationship is corrected based on the association relationship of the obtained multiple target parameters.

6. The ergonomic parameter setting method according to claim 5, characterized in that, The target & target mapping relationship is modified based on the correlation between the acquired multiple target parameters as follows: The new target mapping relationship is formed by averaging or weighting the relationships between the acquired multiple target parameters and the target & target mapping relationship.

7. The ergonomic parameter setting method according to claim 5, characterized in that, Correcting the target & target mapping relationship based on the correlation between the acquired multiple target parameters further includes: The difference between the correlation between the acquired multiple target parameters and the target & target mapping relationship is compared with a first standard threshold range. If it is within the first standard threshold range, the target & target mapping is corrected; otherwise, the correction is ignored.

8. The ergonomic parameter setting method according to claim 1, characterized in that, After the automatic driver completes the corresponding ergonomic settings, it also includes: A user ergonomic parameter database is formed by combining user information and corresponding ergonomic parameters.

9. A method for setting ergonomic parameters, characterized in that, include: Provides a human-computer interaction interface for new user registration and existing user login; Receive user registration or login information. If user login information is received, retrieve the database based on the user login information to automatically drive the completion of the corresponding ergonomic settings. If user registration information is received, obtain the target parameters on the human-computer interaction interface and automatically drive the completion of the corresponding ergonomic settings based on the target parameters. The method for automatically driving the corresponding ergonomic settings based on the target parameters adopts the ergonomic parameter setting method described in any one of claims 1 to 8.

10. The ergonomic parameter setting method according to claim 9, characterized in that, Before the automatic driver completes the ergonomic settings, it also includes: The human-computer interaction interface displays ergonomic parameters and receives confirmation or modification commands.

11. A minimally invasive surgical robot, comprising a master hand and a slave hand, characterized in that, The main hand includes a base, a column, and adjustable pedals, armrests, and a display. The ergonomic design of the main hand adopts the ergonomic parameter setting method described in any one of claims 1 to 10. The target parameters include height, leg length, and arm length. The ergonomic parameters include the pedal distance parameter associated with the leg length parameter, the handrail height parameter associated with the arm length parameter, and the display height parameter associated with the height parameter.

12. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the ergonomic parameter setting method according to any one of claims 1 to 10.

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